Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
TITLE:
SYSTEMS AND METHODS FOR PROVIDING MULTIPLE STRAPDOWN
SOLUTIONS IN ONE ATTITUDE AND HEADING REFERENCE SYSTEM (AHRS)
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This
application is a non-provisional of, and claims the benefit and priority of,
U.S. Provisional Patent Application No. 62/642,324, filed March 13, 2018, the
entirety of
which is hereby incorporated herein by reference.
BACKGROUND
FIELD
[0002]
Various systems benefit from suitable mechanisms and methods for dealing
with sensor inaccuracy. For example, various attitude and heading reference
system
(AHRS) approaches may benefit from systems and methods for providing multiple
strapdown solutions.
RELATED ART
[0003] An
inertial strapdown system may use rate sensors and accelerometers to
compute, among other things, roll, pitch, and heading, and in some cases
position. If
one of these sensors fails, or is not accurate enough for any reason, for
example due to
a noise source,the attitude (roll and pitch) and heading may become either
invalid or
inaccurate.
[0004]
Built-In-Test (BIT) can detect sensor failures and mark the output as failed
when a sensor fails its BIT. One shortcoming of such solutions is the loss of
attitude/heading when a sensor fails in the field. Furthermore, a BIT is
difficult to design
such that the attitude/heading solution is marked as invalid before it becomes
highly
inaccurate, but is not needlessly marked as invalid. In other words, it is
hard to balance
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
between trusting inaccurate data (BIT doesn't fail when it should) and
generating false
or spurious reports of failure (BIT fails when it shouldn't).
SUMMARY
[0005]
According to certain embodiments, a system can include a plurality of three-
axis sensors configured to measure roll, pitch, and heading for a device. The
system
can also include a controller configured to receive output of the plurality of
three-axis
sensors as a plurality of inputs, determine a plurality of strapdown solutions
each
solution of the plurality of solutions based on respective output of the
plurality of three-
axis sensors, weight each output of the plurality of output solutions based on
a relation
between a given output solution and the other output solutions of the
plurality of
solutions, and report the roll, pitch, and heading of the device.
[0006] In
certain embodiments, a method can include receiving, at a controller,
output of a plurality of three-axis sensors configured to measure physical
quantities (e.g.
acceleration, rotational rate), from which can be computed roll, pitch, and
heading for a
device. The method can also include determining, by the controller, a
plurality of
solutions each solution of the plurality of solutions based on respective
output of the
plurality of three-axis sensors. The method can further include weighting, by
the
controller, each of the plurality of solutions based on a relation between a
given solution
and the other solutions of the plurality of solutions. The method can
additionally include
reporting, by the controller, the roll, pitch, and heading of the device.
[0007] A non-transitory computer-readable medium, according to certain
embodiments, can be encoded with instructions that, when executed in hardware,
perform a process. The process can include receiving, at a controller, output
of a
plurality of three-axis sensors configured to measure physical quantities
(e.g.
acceleration, rotational rate), from which can be computed roll, pitch, and
heading for a
2
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
device. The process can also include determining, by the controller, a
plurality of
solutions each solution of the plurality of solutions based on respective
output of the
plurality of three-axis sensors. The process can further include weighting, by
the
controller, each of the plurality of solutions based on a relation between a
given solution
and the other solutions of the plurality of solutions. The process can
additionally include
reporting, by the controller, the roll, pitch, and heading of the device.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] The accompanying drawings are provided for purposes of illustration
and not
by way of limitation.
[0009] Figure 1 illustrates a system according to certain embodiments.
[0010] Figure 2 illustrates a method according to certain embodiments.
DETAILED DESCRIPTION
[0011] Certain embodiments of the present invention can achieve additional
reliability for inertial strapdown systems using multiple redundant sensors.
If multiple
sensors are used (for example, multiple three-axis rate sensors, multiple
accelerometers, both, or any other desired multiple sensors), and multiple
strapdown
solutions are calculated, the resulting roll, pitch, heading and any other
desired values
can be combined by a weighted average, or any other desired algorithm, to
compute a
more reliable output than one that depends on just one of each type of sensor.
[0012] Certain embodiments of the present invention may enhance reliability
in at
least two ways: (1) the solution may be less affected by noise in the sensors,
because
the sensors' noise may, to a certain extent, cancel each other out and (2) a
Built-In-Test
can be done by simply comparing the output roll, pitch, and heading, and if
one
strapdown solution differs from the others by some threshold amount, that
solution can
3
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
be ignored in the combined output. The combined output need not be invalidated
just
because one or more of the solutions is not used. As long as a sufficient
minimum
number of solutions agree with each other, the combined output can be
considered
valid. In this way, redundancy of multiple inertial systems may be achieved
within one
inertial product.
[0013] Certain embodiments of the present invention may be used with
avionics,
space vehicles, guided weapons, such as missiles, hand-held devices, or any
other
application which may use an inertial strapdown solution for computing one or
more of
roll, pitch, heading, position (or any other desired parameter).
[0014] Sensor Arrangement
[0015] Embodiments of the present invention may implement multiple
strapdown
solutions in a single Attitude and Heading Reference System (AHRS) product
(or, if
desired, in multiple AHRS products). Embodiments of the present invention may
provide
a product that may contain multiple sets of three rate sensors: x, y, and z.
Each set of x,
y, and z may be in a single three-axis package, or it may include three
separate
packages that may be arranged orthogonally. The multiple sets of three may be
arranged to have all of their x axes parallel, y axes parallel, etc.
Alternatively, they may
be arranged to have the first sensor's positive x axis parallel to the second
sensor's
positive y axis, the first sensor's positive y axis parallel to the second
sensor's negative
x axis, and so on. They may even be arranged in a non-parallel manner, for
instance,
one x axis may point into the middle of the first (or second, or third, etc.)
octant of
another three-axis triad. In all these cases, the rates generated from the
sensors can be
mathematically rotated to provide multiple rate vectors in the same three-
dimensional
Cartesian reference system. The number of x-y-z triads could be increased by
combining axes from different sensor triads. For instance, the x axis from
sensor 1 with
4
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
the y and z axes from sensor 2. In this manner, as many as eight different
three-
dimensional rate vectors could be generated from two three-axis sensor triads.
Each
three-dimensional rate vector may then be fed into its own strapdown algorithm
to
compute its own set of roll and pitch (and heading, if a heading reference,
such as a
magnetometer, is provided).
[0016]
Combining the Outputs of the Individual Strapdown Solutions when One
Sensor (of the many) Fails
[0017] As
long as all of the sensor triads are providing accurate, valid data, the
combining of the strapdown outputs (e.g., roll, pitch and heading) can be
straightforward: they can simply be averaged. However, if one sensor triad
fails, there
may be a graceful way to drop this sensor's strapdown solution from the
average without
causing steps in the output. In other words, the output, roll, pitch and
heading, can be
smooth as the combined solution transitions from using all of the sensors, to
using all
except one triad.
[0018]
Certain embodiments of the present invention propose a solution that may
utilize a weighted average or any other suitable solution. At each iteration
of a new
output (e.g., roll, pitch and heading), the median of the strapdown outputs
may be
computed. All solutions that are within some defined limit (e.g., call it
limit 1) of the
median may receive a weight of 1. As the difference between a particular
solution and
the median moves from limit 1 to some outer limit (e.g., limit 2), the weight
may
transition from 1 to zero (e.g., it could go linearly between 1 and zero, or
by some non-
linear formula or any other desired transition). When the difference is beyond
limit 2, that
solution may have a weight of zero, and may not be included in the combined
solution.
One reason for using the median instead of the mean may be that as one
solution
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
begins to move away from the others, the median does not move off with it,
whereas the
mean does.
[0019] Circular Median and Circular Weighted Mean
[0020] Note that for roll and heading, a circular version of the median and
weighted
mean may be computed (the unweighted circular mean is in the public domain,
and
information about it is readily available). A circular median may be computed
by taking
the sine and cosine of all the angles, finding the median of the sines and
cosines, and
computing the quadrant-specific arctangent using the median sine and cosine. A
weighted circular mean may be computed by taking the sines and cosines of all
the
angles, and computing a weighted mean of the sines and cosines. Then, the
quadrant-
specific arctangent may be computed from the weighted mean of the sines and
the
weighted mean of the cosines. For pitch, a simple median and weighted mean can
be
used, or a circular version. This is because the range for pitch is only +/-
90 degrees.
[0021] Output Validity
[0022] In this scheme, the attitude validity may be determined not by
testing the
individual sensors, but by comparing the output attitude/heading solutions. If
one
solution begins to drift away from the others, it may be dropped - gradually
phased out
by the weighting scheme described above (or any other suitable scheme). In
order for
the combined solution to remain valid, a minimum number of solutions can be
established, and that minimum number of solutions should be within some
minimum
range of the median (described above). Heading validity may be established
separately
from roll/pitch validity, because in some installations there may be no
heading reference
(such as a magnetometer), so the system outputs roll and pitch.
6
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
[0023]
Figure 1 illustrates a system according to certain embodiments. As shown in
Figure 1, a system can include a plurality three-axis sensors 110, 112, 114.
There can
be more or fewer than three such sensors. Moreover, the sensors may be other
kinds
of sensors, such as two-axis sensors or eight-axis sensors. These sensors,
therefore,
are provided as an illustration and not by way of limitation.
[0024] Each
of sensors 110, 112, 114 may be a strapdown sensor. A strapdown
sensor may be a sensor that does not require an inertial platform as a
mounting point,
but may be strapped down at any desired place on a vehicle. The particular
mounting
mechanism of strapping with straps is not required. Optionally, sensors 110,
112, 114
may be mounted to a rotating platform.
[0025] The
system can also include controller 120. Controller 120 can be any
suitable hardware device, such as an application specific integrated circuit
(ASIC) or
central processing unit (CPU). For example, controller 120 may be one or more
chip in
a line replaceable unit (LRU). In certain embodiments, controller 120 may be
packaged
together with the sensors 110, 112, 114. Alternatively, or in addition, the
controller 120
may be part of a vehicle guidance system of a vehicle. The vehicle may be, for
example, an unmanned aerial vehicle (UAV) or other vehicle.
[0026]
Controller 120 may be configured to receive as inputs the outputs of sensors
110, 112, 114. The sensors 110, 112, 114 may provide raw outputs or signals
representative of roll, pitch, and optionally heading. The sensors 110, 112,
114 may
provide roll, pitch, and heading in a coordinate system of the corresponding
sensor.
The controller 120 may then be calibrated to interpret the sensor data with a
predetermined motion of the device, by comparison to other known values, or
any other
desired way.
7
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
[0027]
Optionally, the controller 120 may determine a plurality of strapdown
solutions. Each strapdown solution may provide roll and pitch. Optionally,
each
strapdown solution may also include heading. The controller 120 may weight
each
solution, or part thereof, based on a relation between a given output and the
other
outputs.
[0028]
There are various ways that this weighting can be done. For example, the
controller 120 may determine a median of the solutions, and may weight each
solution
based on a relation between a given input and the mean. The controller 120 may
then
determine roll, pitch, and heading for the device based on the weighted
plurality of
inputs.
[0029] In
certain embodiments, the weighting can take account of the roll and pitch
separately, while in other embodiments, roll and pitch can be weighted
together. In
certain embodiments, heading may be performed by a different underlying sensor
type.
Thus, in certain embodiments, the heading may be weighted separately from
pitch and
roll, even when pitch and roll are weighted together.
[0030] The
controller can be configured to weight a given solution with a weight of 1
when the given solution is within a first predetermined threshold of the
median. The
controller can be configured to weight the given solutions with a weight that
scales from
1 to 0 when the given solution is beyond the first predetermined threshold of
the median
but within a second predetermined threshold of the median. This scaling can be
a linear
scale or any other desired scale. The use of a linear scale may permit a
relatively
smooth and graceful transition from a solution being considered and a solution
being
eliminated. The controller can be configured to weight the solution with a
weight of 0
when the given output input is beyond the second predetermined threshold of
the
median. This can be a way in which the solution can be considered as invalid.
8
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
[0031]
After a predetermined time of a sensor's solution being weighted as zero,
that solution can be removed from consideration, even as to determining a
median. In
some cases, this may mean removing the entire sensor from consideration or
merely
removing a particular roll, pitch, or heading solution from consideration. In
certain
embodiments, the heading solution may be removed from consideration while the
roll
and pitch solutions may continue to be considered. This approach may have an
advantage of permitting sensors to continue in partial use.
[0032] The
median of at least one of the roll, the pitch, or the heading can be
determined by computing a circular median or mean, as explained above. This
calculation can be performed by the controller 120.
[0033] The
controller 120 can report the roll, pitch, and heading of the device, for
example to a navigation system 130 of the device. The navigation system 130 of
the
device may, for example, be an autopilot system. The navigation system 130 may
include its own memory, processors, computer program instructions, and the
like.
Alternatively, the navigation system 130 may integrated with the controller
120 as a
single unit, including by way of example only as a single chip.
[0034] The
navigational system 130 may, based on output of the controller, provide
commands to control surface(s) 140 of the device and/or provide commands to
engine(s) 145 of the device. For example, the navigational system 130 may
determine
that a roll, pitch, or heading of the device should be altered, and
consequently may send
a message to a rudder, as an example of control surface(s) 140, to change
positions. In
a copter-based implementation, such as a quadcopter or any other multirotor
helicopter,
the engine(s) 145 may similarly have their speed adjusted by the navigation
system 130
to correct a roll, pitch, or heading to a desired roll, pitch, or heading
based on
9
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
information provided from the controller 120 based on data sourced by three-
axis
sensors 110, 112, 114.
[0035] The
controller 120 may also provide information 120 based on data sourced
by three-axis sensors 110, 112, 114 to at least one user interface 150 may be
a
navigational display either in the device (as shown in Figure 1) or remote
from the
device (not pictured). The user interface 150 may have its own graphics card,
display,
processor, and memory, or may be integrated with the controller 120. The user
interface 150 may use the information from controller 120 to display the
device and/or
the environment of the device in an appropriate attitude. The user interface
150 and
navigation system 130 may get additional information from other units, such as
from an
altimeter 160, which may be a barometric altimeter.
[0036]
Figure 2 illustrates a method according to certain embodiments. The method
of Figure 2 may, for example, be implemented using the system of Figure 1. The
method of Figure 2 can include, at 210, receiving, at a controller, output of
a plurality of
three-axis sensors configured to measure physical quantities (e.g.
acceleration,
rotational rate), from which can be computed roll, pitch, and heading for a
device. This
may be controller 120 and sensors 110, 112, and 114 in Figure 1, for example.
[0037] The
method of Figure 2 can also include, at 220, determining, by the
controller, a plurality of solutions each solution of the plurality of
solutions based on
respective output of the plurality of three-axis sensors. The method can
further include,
at 230, weighting, by the controller, each of the plurality of solutions based
on a relation
between a given solution and the other solutions of the plurality of
solutions. The
weighting can be performed separately for heading.
[0038] The
method can additionally include, at 240, reporting, by the controller, the
roll, pitch, and heading of the device. In certain embodiments, only the roll
and pitch
CA 03093544 2020-09-09
WO 2019/178266
PCT/US2019/022104
may be reported. The reporting can include reporting the roll, pitch, and
heading of the
device to a navigation system, to a user interface of an aircraft, or to both.
Reporting to
other devices is also permitted.
[0039] The
method can include, at 235, obtaining a median of the plurality of
solutions. Thus, the relation by which the weighting occurs can be a relation
to the
median. The median of at least one of the roll, the pitch, or the heading can
be
determined by computing a circular median or circular mean, as described
above.
[0040] The
weighting can include weighting a given solution of the plurality of
solutions with a weight of 1 when the given solution is within a first
predetermined
threshold of the median. The weighting can also include weighting the given
solution of
the plurality of solutions with a weight that scales from 1 to 0 when the
given solution is
beyond the first predetermined threshold of the median but within a second
predetermined threshold of the median. The weighting can further include
weighting the
given solution of the plurality of solutions with a weight of 0 when the given
solution is
beyond the second predetermined threshold of the median.
[0041] The
above description has focused on a practical implementation in an
aircraft, such as a UAV. Nevertheless, certain embodiments could be used in a
variety
of manned and unmanned aircraft, including rotorcraft, spacecraft, UAVs, and
missiles,
in a variety of manned and unmanned watercraft, including surface craft,
hovercraft, and
submarines, and in hand-held devices. Other practical implementations and use
cases
are also permitted.
